Abstract ：

针对现有折纸机器人组成结构单一,运动不够灵活的问题,将折纸结构与多足机器人设计相结合,耦合三浦折纸和六折痕折纸,提出新型的仿螃蟹六足折纸机器人设计方案,扩展了折纸机器人的运动构型,提升了折纸机器人的运动灵活性.在面对称假设下,该机器人单足具有 2 个自由度,此时将机器人腿部顶点等效为关节,轴线折痕等效为连杆,建立机器人腿部的平面连杆等效模型,并以折面夹角为运动变量,通过仿真计算得出机器人足端的理论运动范围.利用楔形面板技术对折面增厚并避免相邻折面发生物理干涉,建模得到折纸仿螃蟹六足机器人的三维模型.基于平面连杆的等效模型,分析折面夹角与足端运动之间的联系,设计确定机器人的足端运动轨迹与运动步态.利用 3D打印技术设计并制作折纸仿生六足机器人试验样机,基于STM32 单片机控制实现了机器人三横向角步态运动.结果表明,该折纸仿生机器人可以实现平面构型到仿螃蟹构型的转换,在 6 条腿的协同运动下,机器人可以平稳地左右横向移动.

Keyword ：

运动分析 三浦折纸 仿生 六折痕折纸 六足机器人

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Abstract ：

This research addresses the issues of weak anti-disturbance ability, fast response, and incompatibility of overshoot in the control process of brushless DC motors (BLDCs). A six-step commutation control method based on second-order active disturbance rejection control (ADRC) is derived following the analysis of the BLDC model and the mathematical model of ADRC. A control model of the BLDC using both PI and ADRC is constructed. Detailed comparative and quantitative analyses of the simulation results using PI and ADRC are conducted, focusing on the anti-load disturbance capabilities using the integrated square error (ISE), integrated time square error (ITSE), integrated absolute error (IAE), and integrated time absolute error (ITAE). Experimental testing on the STM32F4 controller is also carried out, analyzing four error integral criteria in depth. The results indicate that both the ADRC and PI control modes can track the target signal without overshooting, demonstrating strong anti-load disturbance ability and robustness at varying working speeds. In the BLDC control system, using the ADRC control method can achieve fast and non-overshoot tracking of target signals compared to the PI control method, and ADRC has stronger resistance to load disturbances.

Keyword ：

STM32 active disturbance rejection control disturbance integrated time absolute error BLDC

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Abstract ：

本发明公开了一种用于建立瘢痕疙瘩动物模型的智能控制系统，包括主控模块、基于PWM调光的LED驱动模块、半圆环形370nm波长LED阵列，所述智能控制系统是基于STM32单片机作为核心控制器，STM32单片机通过串口与PC机数据交互，PC机通过串口发送和接收数据，并控制下一级基于PWM调光的LED驱动模块，LED驱动模块将控制位于切口两端的半圆环型370nm波长LED阵列，使用此控制方式可单独控制LED阵列中的每一个LED参数。本发明采用上述一种用于建立瘢痕疙瘩动物模型的智能控制系统，通过在切口两端放置LED阵列的方式，来有效、稳定的建立瘢痕疙瘩动物模型，为瘢痕疙瘩治疗提供稳定、复制性强的瘢痕疙瘩动物模型。

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Abstract ：

Seismic geophone is the key instrument for seismic data acquisition in the fields of oil and gas exploration and other relevant fields. It plays an important role in data quality,subsequent processing and interpretation. Aiming at the shortcomings of the existing geophones,such as large volume,heavy weight,unable to monitor in real-time,and heavy workload of data transmission and storage,this paper designs and implements a wireless geophone based on STM32 embedded microcontroller. It is mainly composed of STM32 microcontroller, acceleration sensor, global positioning system (GPS) module,Wi-Fi module and real-time seismic data receiving and processing module. Firstly,the acceleration of vibration in three directions is sensed by the acceleration sensor; secondly,the sampling and analog-to-digital conversion of the vibration data is controlled by the microcontroller; thirdly,the vibration and GPS data are sent to the personal computer (PC) through Wi-Fi,and the personal coomputer PC-side software module completes the reception,display,monitoring and storage of the seismic data; finally,the feasibility and effectiveness of the designed wireless geophone are verified through actual seismic data acquisition experiments. © 2023 Inst. of Scientific and Technical Information of China. All rights reserved.

Keyword ：

Seismic waves Analog to digital conversion Controllers Data acquisition Digital storage Global positioning system Geophysical prospecting Wireless local area networks (WLAN) Microcontrollers Seismic response Petroleum prospecting Data handling

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Abstract ：

The traditional pressure testing system has some problems, such as low data accuracy and inconvenient data storage. This paper introduces a dynamic pressure testing system based on STM32 microcontroller. Proteus is used to complete the hardware design of the testing system. Keil uVision 5 and LabVIEW are used to complete the software design of the lower and upper computers of the testing system. The dynamic pressure testing system is simulated by Proteus, and the simulation results show that the whole testing system can well complete the dynamic pressure testing task, and achieve the expected goal. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

Keyword ：

Well testing Microcontrollers Software testing Computer programming languages Software design Digital storage

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Abstract ：

为了解决生活中经常找不到钥匙的问题,设计基于STM32及蓝牙定位技术的智能钥匙扣.智能钥匙扣设计采用STM32作为主控芯片,结合GPS模块和蓝牙模块实现钥匙扣查找功能.使用基于蓝牙指纹的接收信号强度指示(RSSI)定位算法实现在室内或近距离情境下对钥匙扣的精确定位.同时支持一键报警功能,保证老人和小孩的安全.通过近场通信(NFC)功能使钥匙扣替代门禁卡的功能,实现门禁卡与钥匙扣"二合一".

Keyword ：

蓝牙 指纹定位 智能钥匙扣 STM32芯片

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Abstract ：

为了提高基层物流运输工作的效率与准确性,设计了基于STM32芯片的智能物流用轮式循迹机器人系统.以STM32f103rct6为主控芯片(MPU),配合红外检测传感器和伺服电机,将增量式PID算法移植到STM32单片机中,实现对差速驱动自动搬运机器人AGV系统的稳定循迹控制.实验结果表明,设计的控制算法稳定,系统通讯顺畅,智能物流轮式循迹机器人系统能够自行检测货物位置、精准固定物品和自主识别引导线,并随时利用传感器的反馈信息调整路径.

Keyword ：

增量式PID控制 循迹机器人 智能物流 结构设计

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Abstract ：

针对机场建设施工现场移动配电箱使用时存在起火风险的情况,设计开发一种小型无线智能配电箱报警器.该报警器基于STM32处理器,配备有温度传感器、烟雾传感器和NB-IoT通信模块,通过磁吸方式可以轻松安装在配电箱中.当配电箱内烟雾浓度或温度达到阈值时,开始蜂鸣报警,提醒现场工作人员,并通过窄带物联网模块将报警信息以短信和语音电话的形式通知远程管理人员.经验证,该报警器软硬件设计合理、体积小、功耗低、待机时间长、灵敏度高、工作可靠、安装使用方便,可在配电箱发生火情早期进行有效预警.

Keyword ：

温度报警 远程报警 烟雾报警 STM32

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Abstract ：

针对城市中宠物饲养管理普遍存在登记信息和卫生疫苗管理情况混乱、宠物走失事件频发等问题.提出一种新型物联网(IoT)宠物项圈设计.智能宠物项圈核心使用STM32L151C6T6超低功耗单片机作为主控模块,包含窄带物联网(NB-IoT)、NFC、GPS、墨水屏等重要功能与部件,并具有防盗报警功能.软件部分使用C语言进行程序设计,实现了NB-IoT数据上传下载、NFC数据读取写入、丢失报警等功能.

Keyword ：

宠物智能项圈 STM32单片机 窄带物联网 物联网

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Abstract ：

钛合金带筋壁板类T形结构常见于航空制造领域,其激光焊接工艺已经比较成熟.但是即便在激光高速焊接过程热输入已经很低,仍然会存在一定的焊后角变形.由于航空制造的高精度要求,需要施加额外的主动控制以最大限度减小此类角变形.文中提出并验证了基于可编程多点柔性支撑的主动变形控制方法.针对传统刚性装夹、预置应力不适应于弱刚性带筋壁板结构的问题,设计了一套以STM32单片机为主控,直线电动推杆为执行机构的多点柔性支撑装置.结果表明,可在焊接过程实时监测当前支撑位置的受力状态,并进行动态调节,从而达到有效抑制焊接角变形的效果.

Keyword ：

T形接头 激光焊接 多点柔性支撑 变形控制

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